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aparently my water pressure is too low because the sprinkler heads which are ''pop up''will not extend above the heighth of the grass without manually pulling them up. Is there a lubricant that can be used?

I have never seen a lubricant for sprinklers. For a quick fix you might want to put a check valve on the end of the sprinkler on every zone or just one on the zone that isn't working well. If they are rotors, you could put a smaller nozzle in, making sure the PSI and GPM are within your home's or well's capacity.